/***
int ecrt_domain_reg_pdo_entry_list(
        ec_domain_t *domain, /**< Domain. 域
        const ec_pdo_entry_reg_t *pdo_entry_regs /**< Array of PDO
                                                   registrations.PDO注册数组 
        );
*****/


static unsigned int off_cntlwd,off_status;
/***********
const static ec_pdo_entry_reg_t domainServoOutput_regs[] = {
	{CoolDrivePos0, CoolDrive, 0x6040, 0x00, &A1.cntlwd, NULL},
	{CoolDrivePos0, CoolDrive, 0x607a, 0x00, &A1.tarpos, NULL},
    {CoolDrivePos0, CoolDrive, 0x6060, 0x00, &A1.modper, NULL},
    {CoolDrivePos0, CoolDrive, 0x6840, 0x00, &A2.cntlwd, NULL},
    {CoolDrivePos0, CoolDrive, 0x687a, 0x00, &A2.tarpos, NULL},
    {CoolDrivePos0, CoolDrive, 0x6860, 0x00, &A2.modper, NULL},
    {CoolDrivePos1, CoolDrive, 0x6040, 0x00, &A3.cntlwd, NULL},
    {CoolDrivePos1, CoolDrive, 0x607a, 0x00, &A3.tarpos, NULL},
    {CoolDrivePos1, CoolDrive, 0x6060, 0x00, &A3.modper, NULL},
    {CoolDrivePos1, CoolDrive, 0x6840, 0x00, &A4.cntlwd, NULL},
    {CoolDrivePos1, CoolDrive, 0x687a, 0x00, &A4.tarpos, NULL},
    {CoolDrivePos1, CoolDrive, 0x6860, 0x00, &A4.modper, NULL},
	{}

};***********/

const static ec_pdo_entry_reg_t domainServoOutput_regs[] = {
	{CoolDrivePos0, CoolDrive, 0x6040, 0x00, &off_cntlwd, NULL},	
	{},

};

const static ec_pdo_entry_reg_t domainServoInput_regs[] = {
	{CoolDrivePos0, CoolDrive, 0x6041, 0x00, &off_status, NULL},
	{},
};


/* Master 0, Slave 0, "CoolDrive RD"
 * Vendor ID:       0x00000748
 * Product code:    0x0000000a
 * Revision number: 0x00000002
 */

ec_pdo_entry_info_t slave_0_pdo_entries[] = {
    {0x6040, 0x00, 32},
    {0x607a, 0x00, 32},
    {0x6060, 0x00, 32},
    {0x27fe, 0x00, 32},
    {0x60b2, 0x00, 32},
    {0x6071, 0x00, 32},
    {0x6840, 0x00, 32},
    {0x687a, 0x00, 32},
    {0x6860, 0x00, 32},
    {0x2ffe, 0x00, 32},
    {0x68b2, 0x00, 32},
    {0x6871, 0x00, 32},
    {0x6041, 0x00, 32},
    {0x6064, 0x00, 32},
    {0x6077, 0x00, 32},
    {0x6061, 0x00, 32},
    {0x27ff, 0x00, 32},
    {0x6841, 0x00, 32},
    {0x6864, 0x00, 32},
    {0x6877, 0x00, 32},
    {0x6861, 0x00, 32},
    {0x2fff, 0x00, 32},
    {0x603f, 0x00, 32},
    {0x60f4, 0x00, 32},
    {0x2704, 0x00, 32},
    {0x60fd, 0x00, 32},
    {0x683f, 0x00, 32},
    {0x68f4, 0x00, 32},
    {0x2f04, 0x00, 32},
    {0x68fd, 0x00, 32},
};

ec_pdo_info_t slave_0_pdos[] = {
    {0x1600, 6, slave_0_pdo_entries + 0},
    {0x1610, 6, slave_0_pdo_entries + 6},
    {0x1a00, 5, slave_0_pdo_entries + 12},
    {0x1a10, 5, slave_0_pdo_entries + 17},
    {0x1a01, 4, slave_0_pdo_entries + 22},
    {0x1a11, 4, slave_0_pdo_entries + 26},
};

ec_sync_info_t slave_0_syncs[] = {
    {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
    {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
    {2, EC_DIR_OUTPUT, 2, slave_0_pdos + 0, EC_WD_ENABLE},
    {3, EC_DIR_INPUT, 4, slave_0_pdos + 2, EC_WD_DISABLE},
    {0xff}
};

/* Master 0, Slave 1, "CoolDrive RD"
 * Vendor ID:       0x00000748
 * Product code:    0x0000000a
 * Revision number: 0x00000002
 */

ec_pdo_entry_info_t slave_1_pdo_entries[] = {
    {0x6040, 0x00, 32},
    {0x607a, 0x00, 32},
    {0x6060, 0x00, 32},
    {0x27fe, 0x00, 32},
    {0x60b2, 0x00, 32},
    {0x6071, 0x00, 32},
    {0x6840, 0x00, 32},
    {0x687a, 0x00, 32},
    {0x6860, 0x00, 32},
    {0x2ffe, 0x00, 32},
    {0x68b2, 0x00, 32},
    {0x6871, 0x00, 32},
    {0x6041, 0x00, 32},
    {0x6064, 0x00, 32},
    {0x6077, 0x00, 32},
    {0x6061, 0x00, 32},
    {0x27ff, 0x00, 32},
    {0x6841, 0x00, 32},
    {0x6864, 0x00, 32},
    {0x6877, 0x00, 32},
    {0x6861, 0x00, 32},
    {0x2fff, 0x00, 32},
    {0x603f, 0x00, 32},
    {0x60f4, 0x00, 32},
    {0x2704, 0x00, 32},
    {0x60fd, 0x00, 32},
    {0x683f, 0x00, 32},
    {0x68f4, 0x00, 32},
    {0x2f04, 0x00, 32},
    {0x68fd, 0x00, 32},
};

ec_pdo_info_t slave_1_pdos[] = {
    {0x1600, 6, slave_1_pdo_entries + 0},
    {0x1610, 6, slave_1_pdo_entries + 6},
    {0x1a00, 5, slave_1_pdo_entries + 12},
    {0x1a10, 5, slave_1_pdo_entries + 17},
    {0x1a01, 4, slave_1_pdo_entries + 22},
    {0x1a11, 4, slave_1_pdo_entries + 26},
};

ec_sync_info_t slave_1_syncs[] = {
    {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
    {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
    {2, EC_DIR_OUTPUT, 2, slave_1_pdos + 0, EC_WD_ENABLE},
    {3, EC_DIR_INPUT, 4, slave_1_pdos + 2, EC_WD_DISABLE},
    {0xff}
};
/***************
=== Master 0, Slave 0 ===
SM0: PhysAddr 0x1000, DefaultSize  128, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1400, DefaultSize  128, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1800, DefaultSize    0, ControlRegister 0x64, Enable 1
  RxPDO 0x1600 ""
    PDO entry 0x6040:00, 16 bit, ""
    PDO entry 0x607a:00, 32 bit, ""
    PDO entry 0x6060:00,  8 bit, ""
    PDO entry 0x27fe:00,  8 bit, ""
    PDO entry 0x60b2:00, 16 bit, ""
    PDO entry 0x6071:00, 16 bit, ""
  RxPDO 0x1610 ""
    PDO entry 0x6840:00, 16 bit, ""
    PDO entry 0x687a:00, 32 bit, ""
    PDO entry 0x6860:00,  8 bit, ""
    PDO entry 0x2ffe:00,  8 bit, ""
    PDO entry 0x68b2:00, 16 bit, ""
    PDO entry 0x6871:00, 16 bit, ""
SM3: PhysAddr 0x1c00, DefaultSize    0, ControlRegister 0x00, Enable 1
  TxPDO 0x1a00 ""
    PDO entry 0x6041:00, 16 bit, ""
    PDO entry 0x6064:00, 32 bit, ""
    PDO entry 0x6077:00, 16 bit, ""
    PDO entry 0x6061:00,  8 bit, ""
    PDO entry 0x27ff:00,  8 bit, ""
  TxPDO 0x1a10 ""
    PDO entry 0x6841:00, 16 bit, ""
    PDO entry 0x6864:00, 32 bit, ""
    PDO entry 0x6877:00, 16 bit, ""
    PDO entry 0x6861:00,  8 bit, ""
    PDO entry 0x2fff:00,  8 bit, ""
  TxPDO 0x1a01 ""
    PDO entry 0x603f:00, 16 bit, ""
    PDO entry 0x60f4:00, 32 bit, ""
    PDO entry 0x2704:00, 16 bit, ""
    PDO entry 0x60fd:00, 32 bit, ""
  TxPDO 0x1a11 ""
    PDO entry 0x683f:00, 16 bit, ""
    PDO entry 0x68f4:00, 32 bit, ""
    PDO entry 0x2f04:00, 16 bit, ""
    PDO entry 0x68fd:00, 32 bit, ""
=== Master 0, Slave 1 ===
SM0: PhysAddr 0x1000, DefaultSize  128, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1400, DefaultSize  128, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1800, DefaultSize    0, ControlRegister 0x64, Enable 1
  RxPDO 0x1600 ""
    PDO entry 0x6040:00, 16 bit, ""
    PDO entry 0x607a:00, 32 bit, ""
    PDO entry 0x6060:00,  8 bit, ""
    PDO entry 0x27fe:00,  8 bit, ""
    PDO entry 0x60b2:00, 16 bit, ""
    PDO entry 0x6071:00, 16 bit, ""
  RxPDO 0x1610 ""
    PDO entry 0x6840:00, 16 bit, ""
    PDO entry 0x687a:00, 32 bit, ""
    PDO entry 0x6860:00,  8 bit, ""
    PDO entry 0x2ffe:00,  8 bit, ""
    PDO entry 0x68b2:00, 16 bit, ""
    PDO entry 0x6871:00, 16 bit, ""
SM3: PhysAddr 0x1c00, DefaultSize    0, ControlRegister 0x00, Enable 1
  TxPDO 0x1a00 ""
    PDO entry 0x6041:00, 16 bit, ""
    PDO entry 0x6064:00, 32 bit, ""
    PDO entry 0x6077:00, 16 bit, ""
    PDO entry 0x6061:00,  8 bit, ""
    PDO entry 0x27ff:00,  8 bit, ""
  TxPDO 0x1a10 ""
    PDO entry 0x6841:00, 16 bit, ""
    PDO entry 0x6864:00, 32 bit, ""
    PDO entry 0x6877:00, 16 bit, ""
    PDO entry 0x6861:00,  8 bit, ""
    PDO entry 0x2fff:00,  8 bit, ""
  TxPDO 0x1a01 ""
    PDO entry 0x603f:00, 16 bit, ""
    PDO entry 0x60f4:00, 32 bit, ""
    PDO entry 0x2704:00, 16 bit, ""
    PDO entry 0x60fd:00, 32 bit, ""
  TxPDO 0x1a11 ""
    PDO entry 0x683f:00, 16 bit, ""
    PDO entry 0x68f4:00, 32 bit, ""
    PDO entry 0x2f04:00, 16 bit, ""
    PDO entry 0x68fd:00, 32 bit, ""

****************/
